The work in [1]} is one of the the first to consider
the goal state within end-to-end training, which involves laser scans and
relative target waypoints as input and steering commands as output.
However, their system still requires human intervention to correct for local
minima since it is not linked to higher level planning. It is not clear
how successful the system is at autonomous operation relative to the global
objective since baseline comparison against standard methods is not
performed.
